diff options
| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-12-01 16:39:27 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-12-01 16:39:27 +0100 |
| commit | 8b5bc703a11805cada41e06b5e2327d0796ec0e5 (patch) | |
| tree | 7ce9482b867ec2a35cd1b3d6d4c8fcb0e580c4f4 | |
| parent | 6b695ac9e8be9e7fe480238c967316366cba444c (diff) | |
| download | px4-firmware-8b5bc703a11805cada41e06b5e2327d0796ec0e5.tar.gz px4-firmware-8b5bc703a11805cada41e06b5e2327d0796ec0e5.tar.bz2 px4-firmware-8b5bc703a11805cada41e06b5e2327d0796ec0e5.zip | |
initial version of msg to uorb script
Standard and embedded types work, may need small refinements for some
types
39 files changed, 415 insertions, 13 deletions
diff --git a/.gitignore b/.gitignore index 69112ee1f..9d9c3d383 100644 --- a/.gitignore +++ b/.gitignore @@ -39,3 +39,4 @@ tags .pydevproject .ropeproject *.orig +src/modules/uORB/topics/* @@ -104,13 +104,13 @@ DESIRED_FIRMWARES = $(foreach config,$(CONFIGS),$(IMAGE_DIR)$(config).px4) STAGED_FIRMWARES = $(foreach config,$(KNOWN_CONFIGS),$(IMAGE_DIR)$(config).px4) FIRMWARES = $(foreach config,$(KNOWN_CONFIGS),$(BUILD_DIR)$(config).build/firmware.px4) -all: checksubmodules $(DESIRED_FIRMWARES) +all: checksubmodules generateuorbtopicheaders $(DESIRED_FIRMWARES) # # Copy FIRMWARES into the image directory. # -# XXX copying the .bin files is a hack to work around the PX4IO uploader -# not supporting .px4 files, and it should be deprecated onced that +# XXX copying the .bin files is a hack to work around the PX4IO uploader +# not supporting .px4 files, and it should be deprecated onced that # is taken care of. # $(STAGED_FIRMWARES): $(IMAGE_DIR)%.px4: $(BUILD_DIR)%.build/firmware.px4 @@ -152,7 +152,7 @@ $(foreach config,$(FMU_CONFIGS),$(eval $(call FMU_DEP,$(config)))) # Build the NuttX export archives. # # Note that there are no explicit dependencies extended from these -# archives. If NuttX is updated, the user is expected to rebuild the +# archives. If NuttX is updated, the user is expected to rebuild the # archives/build area manually. Likewise, when the 'archives' target is # invoked, all archives are always rebuilt. # @@ -224,6 +224,16 @@ updatesubmodules: $(Q) (git submodule init) $(Q) (git submodule update) +MSG_DIR = $(PX4_BASE)msg/px4_msgs +MSG_TEMPLATE_DIR = $(PX4_BASE)msg/templates +TOPICS_DIR = $(PX4_BASE)src/modules/uORB/topics + +.PHONY: generateuorbtopicheaders +generateuorbtopicheaders: + @$(ECHO) "Generating uORB topic headers" + $(Q) ($(PX4_BASE)/Tools/px_generate_uorb_topic_headers.py -d $(MSG_DIR) \ + -o $(TOPICS_DIR) -e $(MSG_TEMPLATE_DIR)) + # # Testing targets # @@ -232,7 +242,7 @@ testbuild: # # Cleanup targets. 'clean' should remove all built products and force -# a complete re-compilation, 'distclean' should remove everything +# a complete re-compilation, 'distclean' should remove everything # that's generated leaving only files that are in source control. # .PHONY: clean diff --git a/Tools/px_generate_uorb_topic_headers.py b/Tools/px_generate_uorb_topic_headers.py new file mode 100755 index 000000000..a738dcb7e --- /dev/null +++ b/Tools/px_generate_uorb_topic_headers.py @@ -0,0 +1,98 @@ +#!/usr/bin/env python +############################################################################# +# +# Copyright (C) 2013-2014 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################# + +""" +px_generate_uorb_topic_headers.py +Generates c/cpp header files for uorb topics from .msg (ROS syntax) +message files +""" +from __future__ import print_function +import os +import argparse +import genmsg.template_tools + +__author__ = "Thomas Gubler" +__copyright__ = "Copyright (C) 2013-2014 PX4 Development Team." +__license__ = "BSD" +__email__ = "thomasgubler@gmail.com" + + +msg_template_map = {'msg.h.template': '@NAME@.h'} +srv_template_map = {} +incl_default = ['std_msgs:./msg/std_msgs'] +package = 'px4' + + +def convert_file(filename, outputdir, templatedir, includepath): + """ + Converts a single .msg file to a uorb header + """ + print("Generating uORB headers from {0}".format(filename)) + genmsg.template_tools.generate_from_file(filename, + package, + outputdir, + templatedir, + includepath, + msg_template_map, + srv_template_map) + + +def convert_dir(inputdir, outputdir, templatedir): + """ + Converts all .msg files in inputdir to uORB header files + """ + includepath = incl_default + [':'.join([package, inputdir])] + for f in os.listdir(inputdir): + fn = os.path.join(inputdir, f) + if os.path.isfile(fn): + convert_file(fn, outputdir, templatedir, includepath) + +if __name__ == "__main__": + parser = argparse.ArgumentParser( + description='Convert msg files to uorb headers') + parser.add_argument('-d', dest='dir', help='directory with msg files') + parser.add_argument('-f', dest='file', + help="files to convert (use only without -d)", + nargs="+") + parser.add_argument('-e', dest='templatedir', + help='directory with template files',) + parser.add_argument('-o', dest='outputdir', + help='output directory for header files') + args = parser.parse_args() + + if args.file is not None: + for f in args.file: + convert_file(f, args.outputdir, args.templatedir, incl_default) + elif args.dir is not None: + convert_dir(args.dir, args.outputdir, args.templatedir) diff --git a/msg/px4_msgs/actuator_armed.msg b/msg/px4_msgs/actuator_armed.msg new file mode 100644 index 000000000..f6bf58307 --- /dev/null +++ b/msg/px4_msgs/actuator_armed.msg @@ -0,0 +1,6 @@ + +uint64 timestamp # Microseconds since system boot +bool armed # Set to true if system is armed +bool ready_to_arm # Set to true if system is ready to be armed +bool lockdown # Set to true if actuators are forced to being disabled (due to emergency or HIL) +bool force_failsafe # Set to true if the actuators are forced to the failsafe position diff --git a/msg/px4_msgs/rc_channels.msg b/msg/px4_msgs/rc_channels.msg new file mode 100644 index 000000000..aaa6696f9 --- /dev/null +++ b/msg/px4_msgs/rc_channels.msg @@ -0,0 +1,24 @@ +int32 RC_CHANNELS_FUNCTION_MAX=18 +uint8 RC_CHANNELS_FUNCTION_THROTTLE=0 +uint8 RC_CHANNELS_FUNCTION_ROLL=1 +uint8 RC_CHANNELS_FUNCTION_PITCH=2 +uint8 RC_CHANNELS_FUNCTION_YAW=3 +uint8 RC_CHANNELS_FUNCTION_MODE=4 +uint8 RC_CHANNELS_FUNCTION_RETURN=5 +uint8 RC_CHANNELS_FUNCTION_POSCTL=6 +uint8 RC_CHANNELS_FUNCTION_LOITER=7 +uint8 RC_CHANNELS_FUNCTION_OFFBOARD=8 +uint8 RC_CHANNELS_FUNCTION_ACRO=9 +uint8 RC_CHANNELS_FUNCTION_FLAPS=10 +uint8 RC_CHANNELS_FUNCTION_AUX_1=11 +uint8 RC_CHANNELS_FUNCTION_AUX_2=12 +uint8 RC_CHANNELS_FUNCTION_AUX_3=13 +uint8 RC_CHANNELS_FUNCTION_AUX_4=14 +uint8 RC_CHANNELS_FUNCTION_AUX_5=15 +uint64 timestamp_last_valid # Timestamp of last valid RC signal +float32[18] channels # Scaled to -1..1 (throttle: 0..1) +uint8 channel_count # Number of valid channels +int8[18] function # Functions mapping +uint8 rssi # Receive signal strength index +bool signal_lost # Control signal lost, should be checked together with topic timeout +actuator_armed actuator diff --git a/msg/rc_channels.msg b/msg/rc_channels.msg deleted file mode 100644 index 11dc57c42..000000000 --- a/msg/rc_channels.msg +++ /dev/null @@ -1,8 +0,0 @@ -Header header -int32 RC_CHANNELS_FUNCTION_MAX=18 -uint64 timestamp_last_valid # Timestamp of last valid RC signal -float32[18] channels # Scaled to -1..1 (throttle: 0..1) -uint8 channel_count # Number of valid channels -int8[18] function # Functions mapping -uint8 rssi # Receive signal strength index -bool signal_lost # Control signal lost, should be checked together with topic timeout diff --git a/msg/std_msgs/Bool.msg b/msg/std_msgs/Bool.msg new file mode 100644 index 000000000..f7cabb94f --- /dev/null +++ b/msg/std_msgs/Bool.msg @@ -0,0 +1 @@ +bool data
\ No newline at end of file diff --git a/msg/std_msgs/Byte.msg b/msg/std_msgs/Byte.msg new file mode 100644 index 000000000..d993b3455 --- /dev/null +++ b/msg/std_msgs/Byte.msg @@ -0,0 +1 @@ +byte data diff --git a/msg/std_msgs/ByteMultiArray.msg b/msg/std_msgs/ByteMultiArray.msg new file mode 100644 index 000000000..bb00bd348 --- /dev/null +++ b/msg/std_msgs/ByteMultiArray.msg @@ -0,0 +1,6 @@ +# Please look at the MultiArrayLayout message definition for +# documentation on all multiarrays. + +MultiArrayLayout layout # specification of data layout +byte[] data # array of data + diff --git a/msg/std_msgs/Char.msg b/msg/std_msgs/Char.msg new file mode 100644 index 000000000..39a1d46a9 --- /dev/null +++ b/msg/std_msgs/Char.msg @@ -0,0 +1 @@ +char data
\ No newline at end of file diff --git a/msg/std_msgs/ColorRGBA.msg b/msg/std_msgs/ColorRGBA.msg new file mode 100644 index 000000000..182dbc834 --- /dev/null +++ b/msg/std_msgs/ColorRGBA.msg @@ -0,0 +1,4 @@ +float32 r +float32 g +float32 b +float32 a diff --git a/msg/std_msgs/Duration.msg b/msg/std_msgs/Duration.msg new file mode 100644 index 000000000..f13931ec8 --- /dev/null +++ b/msg/std_msgs/Duration.msg @@ -0,0 +1 @@ +duration data diff --git a/msg/std_msgs/Empty.msg b/msg/std_msgs/Empty.msg new file mode 100644 index 000000000..e69de29bb --- /dev/null +++ b/msg/std_msgs/Empty.msg diff --git a/msg/std_msgs/Float32.msg b/msg/std_msgs/Float32.msg new file mode 100644 index 000000000..e89740534 --- /dev/null +++ b/msg/std_msgs/Float32.msg @@ -0,0 +1 @@ +float32 data
\ No newline at end of file diff --git a/msg/std_msgs/Float32MultiArray.msg b/msg/std_msgs/Float32MultiArray.msg new file mode 100644 index 000000000..915830846 --- /dev/null +++ b/msg/std_msgs/Float32MultiArray.msg @@ -0,0 +1,6 @@ +# Please look at the MultiArrayLayout message definition for +# documentation on all multiarrays. + +MultiArrayLayout layout # specification of data layout +float32[] data # array of data + diff --git a/msg/std_msgs/Float64.msg b/msg/std_msgs/Float64.msg new file mode 100644 index 000000000..cd09d39b8 --- /dev/null +++ b/msg/std_msgs/Float64.msg @@ -0,0 +1 @@ +float64 data
\ No newline at end of file diff --git a/msg/std_msgs/Float64MultiArray.msg b/msg/std_msgs/Float64MultiArray.msg new file mode 100644 index 000000000..0a13b928f --- /dev/null +++ b/msg/std_msgs/Float64MultiArray.msg @@ -0,0 +1,6 @@ +# Please look at the MultiArrayLayout message definition for +# documentation on all multiarrays. + +MultiArrayLayout layout # specification of data layout +float64[] data # array of data + diff --git a/msg/std_msgs/Header.msg b/msg/std_msgs/Header.msg new file mode 100644 index 000000000..f90d622ea --- /dev/null +++ b/msg/std_msgs/Header.msg @@ -0,0 +1,15 @@ +# Standard metadata for higher-level stamped data types. +# This is generally used to communicate timestamped data +# in a particular coordinate frame. +# +# sequence ID: consecutively increasing ID +uint32 seq +#Two-integer timestamp that is expressed as: +# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs') +# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs') +# time-handling sugar is provided by the client library +time stamp +#Frame this data is associated with +# 0: no frame +# 1: global frame +string frame_id diff --git a/msg/std_msgs/Int16.msg b/msg/std_msgs/Int16.msg new file mode 100644 index 000000000..c4389faf7 --- /dev/null +++ b/msg/std_msgs/Int16.msg @@ -0,0 +1 @@ +int16 data diff --git a/msg/std_msgs/Int16MultiArray.msg b/msg/std_msgs/Int16MultiArray.msg new file mode 100644 index 000000000..d2ddea1d1 --- /dev/null +++ b/msg/std_msgs/Int16MultiArray.msg @@ -0,0 +1,6 @@ +# Please look at the MultiArrayLayout message definition for +# documentation on all multiarrays. + +MultiArrayLayout layout # specification of data layout +int16[] data # array of data + diff --git a/msg/std_msgs/Int32.msg b/msg/std_msgs/Int32.msg new file mode 100644 index 000000000..0ecfe35f5 --- /dev/null +++ b/msg/std_msgs/Int32.msg @@ -0,0 +1 @@ +int32 data
\ No newline at end of file diff --git a/msg/std_msgs/Int32MultiArray.msg b/msg/std_msgs/Int32MultiArray.msg new file mode 100644 index 000000000..af60abda3 --- /dev/null +++ b/msg/std_msgs/Int32MultiArray.msg @@ -0,0 +1,6 @@ +# Please look at the MultiArrayLayout message definition for +# documentation on all multiarrays. + +MultiArrayLayout layout # specification of data layout +int32[] data # array of data + diff --git a/msg/std_msgs/Int64.msg b/msg/std_msgs/Int64.msg new file mode 100644 index 000000000..6961e00f5 --- /dev/null +++ b/msg/std_msgs/Int64.msg @@ -0,0 +1 @@ +int64 data
\ No newline at end of file diff --git a/msg/std_msgs/Int64MultiArray.msg b/msg/std_msgs/Int64MultiArray.msg new file mode 100644 index 000000000..f4f35e171 --- /dev/null +++ b/msg/std_msgs/Int64MultiArray.msg @@ -0,0 +1,6 @@ +# Please look at the MultiArrayLayout message definition for +# documentation on all multiarrays. + +MultiArrayLayout layout # specification of data layout +int64[] data # array of data + diff --git a/msg/std_msgs/Int8.msg b/msg/std_msgs/Int8.msg new file mode 100644 index 000000000..1e42e554f --- /dev/null +++ b/msg/std_msgs/Int8.msg @@ -0,0 +1 @@ +int8 data diff --git a/msg/std_msgs/Int8MultiArray.msg b/msg/std_msgs/Int8MultiArray.msg new file mode 100644 index 000000000..a59a37259 --- /dev/null +++ b/msg/std_msgs/Int8MultiArray.msg @@ -0,0 +1,6 @@ +# Please look at the MultiArrayLayout message definition for +# documentation on all multiarrays. + +MultiArrayLayout layout # specification of data layout +int8[] data # array of data + diff --git a/msg/std_msgs/MultiArrayDimension.msg b/msg/std_msgs/MultiArrayDimension.msg new file mode 100644 index 000000000..08240462c --- /dev/null +++ b/msg/std_msgs/MultiArrayDimension.msg @@ -0,0 +1,3 @@ +string label # label of given dimension +uint32 size # size of given dimension (in type units) +uint32 stride # stride of given dimension
\ No newline at end of file diff --git a/msg/std_msgs/MultiArrayLayout.msg b/msg/std_msgs/MultiArrayLayout.msg new file mode 100644 index 000000000..5437f8542 --- /dev/null +++ b/msg/std_msgs/MultiArrayLayout.msg @@ -0,0 +1,26 @@ +# The multiarray declares a generic multi-dimensional array of a +# particular data type. Dimensions are ordered from outer most +# to inner most. + +MultiArrayDimension[] dim # Array of dimension properties +uint32 data_offset # padding bytes at front of data + +# Accessors should ALWAYS be written in terms of dimension stride +# and specified outer-most dimension first. +# +# multiarray(i,j,k) = data[data_offset + dim_stride[1]*i + dim_stride[2]*j + k] +# +# A standard, 3-channel 640x480 image with interleaved color channels +# would be specified as: +# +# dim[0].label = "height" +# dim[0].size = 480 +# dim[0].stride = 3*640*480 = 921600 (note dim[0] stride is just size of image) +# dim[1].label = "width" +# dim[1].size = 640 +# dim[1].stride = 3*640 = 1920 +# dim[2].label = "channel" +# dim[2].size = 3 +# dim[2].stride = 3 +# +# multiarray(i,j,k) refers to the ith row, jth column, and kth channel.
\ No newline at end of file diff --git a/msg/std_msgs/String.msg b/msg/std_msgs/String.msg new file mode 100644 index 000000000..ae721739e --- /dev/null +++ b/msg/std_msgs/String.msg @@ -0,0 +1 @@ +string data diff --git a/msg/std_msgs/Time.msg b/msg/std_msgs/Time.msg new file mode 100644 index 000000000..7f8f72171 --- /dev/null +++ b/msg/std_msgs/Time.msg @@ -0,0 +1 @@ +time data diff --git a/msg/std_msgs/UInt16.msg b/msg/std_msgs/UInt16.msg new file mode 100644 index 000000000..87d0c44eb --- /dev/null +++ b/msg/std_msgs/UInt16.msg @@ -0,0 +1 @@ +uint16 data diff --git a/msg/std_msgs/UInt16MultiArray.msg b/msg/std_msgs/UInt16MultiArray.msg new file mode 100644 index 000000000..f38970b65 --- /dev/null +++ b/msg/std_msgs/UInt16MultiArray.msg @@ -0,0 +1,6 @@ +# Please look at the MultiArrayLayout message definition for +# documentation on all multiarrays. + +MultiArrayLayout layout # specification of data layout +uint16[] data # array of data + diff --git a/msg/std_msgs/UInt32.msg b/msg/std_msgs/UInt32.msg new file mode 100644 index 000000000..b6c696b42 --- /dev/null +++ b/msg/std_msgs/UInt32.msg @@ -0,0 +1 @@ +uint32 data
\ No newline at end of file diff --git a/msg/std_msgs/UInt32MultiArray.msg b/msg/std_msgs/UInt32MultiArray.msg new file mode 100644 index 000000000..b2bb0771f --- /dev/null +++ b/msg/std_msgs/UInt32MultiArray.msg @@ -0,0 +1,6 @@ +# Please look at the MultiArrayLayout message definition for +# documentation on all multiarrays. + +MultiArrayLayout layout # specification of data layout +uint32[] data # array of data + diff --git a/msg/std_msgs/UInt64.msg b/msg/std_msgs/UInt64.msg new file mode 100644 index 000000000..2eb1afad3 --- /dev/null +++ b/msg/std_msgs/UInt64.msg @@ -0,0 +1 @@ +uint64 data
\ No newline at end of file diff --git a/msg/std_msgs/UInt64MultiArray.msg b/msg/std_msgs/UInt64MultiArray.msg new file mode 100644 index 000000000..30d0cd928 --- /dev/null +++ b/msg/std_msgs/UInt64MultiArray.msg @@ -0,0 +1,6 @@ +# Please look at the MultiArrayLayout message definition for +# documentation on all multiarrays. + +MultiArrayLayout layout # specification of data layout +uint64[] data # array of data + diff --git a/msg/std_msgs/UInt8.msg b/msg/std_msgs/UInt8.msg new file mode 100644 index 000000000..5eefd870d --- /dev/null +++ b/msg/std_msgs/UInt8.msg @@ -0,0 +1 @@ +uint8 data diff --git a/msg/std_msgs/UInt8MultiArray.msg b/msg/std_msgs/UInt8MultiArray.msg new file mode 100644 index 000000000..31f7d6a21 --- /dev/null +++ b/msg/std_msgs/UInt8MultiArray.msg @@ -0,0 +1,6 @@ +# Please look at the MultiArrayLayout message definition for +# documentation on all multiarrays. + +MultiArrayLayout layout # specification of data layout +uint8[] data # array of data + diff --git a/msg/templates/msg.h.template b/msg/templates/msg.h.template new file mode 100644 index 000000000..d05282c88 --- /dev/null +++ b/msg/templates/msg.h.template @@ -0,0 +1,141 @@ +@############################################### +@# +@# PX4 ROS compatible message source code +@# generation for C++ +@# +@# EmPy template for generating <msg>.h files +@# Based on the original template for ROS +@# +@############################################### +@# Start of Template +@# +@# Context: +@# - file_name_in (String) Source file +@# - spec (msggen.MsgSpec) Parsed specification of the .msg file +@# - md5sum (String) MD5Sum of the .msg specification +@############################################### +/**************************************************************************** + * + * Copyright (C) 2013-2014 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + + /* Auto-generated by genmsg_cpp from file @file_name_in */ + +@{ +import genmsg.msgs +import gencpp + +cpp_namespace = '::%s::'%(spec.package) # TODO handle nested namespace +cpp_class = '%s_'%spec.short_name +cpp_full_name = '%s%s'%(cpp_namespace,cpp_class) +cpp_full_name_with_alloc = '%s<ContainerAllocator>'%(cpp_full_name) +cpp_msg_definition = gencpp.escape_message_definition(msg_definition) +}@ + +#pragma once + +@############################## +@# Generic Includes +@############################## +#include <stdint.h> +#include "../uORB.h" + +@############################## +@# Includes for dependencies +@############################## +@{ +for field in spec.parsed_fields(): + if (not field.is_builtin): + if (not field.is_header): + (package, name) = genmsg.names.package_resource_name(field.base_type) + package = package or spec.package # convert '' to package + print('#include <uORB/topics/%s.h>'%(name)) + +}@ +@# Constants +@[for constant in spec.constants]@ +#define @(constant.name) = @(int(constant.val)) +@[end for] + +/** + * @@addtogroup topics + * @@{ + */ + +@############################## +@# Main struct of message +@############################## +@{ + +inttypes = ['int8', 'int16', 'int32', 'int64', 'uint8', 'uint16', 'uint32', 'uint64'] + +# Function to print a standard ros type +def print_field_def(field): + type = field.type + # detect embedded types + sl_pos = type.find('/') + type_appendix = '' + type_prefix = '' + if (sl_pos >= 0): + type = type[sl_pos + 1:] + type_prefix = 'struct ' + type_appendix = '_s' + + # detect arrays + a_pos = type.find('[') + array_size = '' + if (a_pos >= 0): + # field is array + array_size = type[a_pos:] + type = type[:a_pos] + + if type in inttypes: + # need to add _t: int8 --> int8_t + type_appendix = '_t' + + print('\t%s%s%s%s %s;'%(type_prefix, type, type_appendix, array_size, field.name)) + +} +struct @(spec.short_name)_s +@{ +# loop over all fields and print the type and name +for field in spec.parsed_fields(): + if (not field.is_header): + print_field_def(field) +}@ +} + +/** + * @@} + */ + +/* register this as object request broker structure */ +ORB_DECLARE(@(spec.short_name)); |